#!/bin/sh
#
# @name Wing Wing (aka Z-84) Flying Wing
#
# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
#
# @type Flying Wing
# @class Plane
#
# @output MAIN1 left aileron
# @output MAIN2 right aileron
# @output MAIN4 throttle
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.fw_defaults

param set-default BAT1_N_CELLS 2
param set-default FW_AIRSPD_MAX 15
param set-default FW_AIRSPD_TRIM 13
param set-default FW_R_TC 0.3
param set-default FW_P_TC 0.3
param set-default FW_L1_DAMPING 0.74
param set-default FW_L1_PERIOD 16
param set-default FW_LND_ANG 15
param set-default FW_LND_FLALT 5
param set-default FW_LND_HVIRT 13
param set-default FW_LND_TLALT 5
param set-default FW_THR_LND_MAX 0
param set-default FW_PR_FF 0.35
param set-default FW_RR_FF 0.6
param set-default FW_RR_P 0.04

param set-default PWM_MAIN_DISARM 1000

# Set mixer.
set MIXER fw_generic_wing

# Provide ESC a constant 1000 us pulse.
set PWM_OUT 4
